Global navigation satellite systems (GNSSs) play a key role in intelligent transportation systems such as autonomous driving or unmanned systems navigation. In such applications, it is fundamental to ensure a reliable precise positioning solution able to operate in harsh propagation conditions such as urban environments and under multipath and other disturbances. Exploiting carrier phase observations allows for precise positioning solutions at the complexity cost of resolving integer phase ambiguities, a procedure that is particularly affected by non-nominal conditions. This limits the applicability of conventional filtering techniques in challenging scenarios, and new robust solutions must be accounted for. This contribution deals with real-time kinematic (RTK) positioning and the design of robust filtering solutions for the associated mixed integer- and real-valued estimation problem. Families of Kalman filter (KF) approaches based on robust statistics and variational inference are explored, such as the generalized M-based KF or the variational-based KF, aiming to mitigate the impact of outliers or non-nominal measurement behaviors. The performance assessment under harsh propagation conditions is realized using a simulated scenario and real data from a measurement campaign. https://www.selleckchem.com/products/PI-103.html The proposed robust filtering solutions are shown to offer excellent resilience against outlying observations, with the variational-based KF showcasing the overall best performance in terms of Gaussian efficiency and robustness.This paper is concerned with the state and fault estimation issue for nonlinear systems with sensor saturations and fault signals. For the sake of avoiding the communication burden, an event-triggering protocol is utilized to govern the transmission frequency of the measurements from the sensor to its corresponding recursive estimator. Under the event-triggering mechanism (ETM), the current transmission is released only when the relative error of measurements is bigger than a prescribed threshold. The objective of this paper is to design an event-triggering recursive state and fault estimator such that the estimation error covariances for the state and fault are both guaranteed with upper bounds and subsequently derive the gain matrices minimizing such upper bounds, relying on the solutions to a set of difference equations. Finally, two experimental examples are given to validate the effectiveness of the designed algorithm.Suspensions of hemoglobin microparticles (HbMPs) are promising tools as oxygen therapeutics. For the approval of clinical studies extensive characterization of these HbMPs with a size of about 750 nm is required regarding physical properties, function, pharmaco-kinetics and toxicology. The standard absorbance measurements in blood gas analyzers require dissolution of red blood cells which does not work for HbMP. Therefore, we have developed a robust and rapid optical method for the quality and functionality control of HbMPs. It allows simultaneous determination of the portion of the two states of hemoglobin oxygenated hemoglobin (oxyHb) and deoxygenated hemoglobin (deoxyHb) as well as the content of methemoglobin (metHb). Based on the measurement of collimated transmission spectra between 300 nm and 800 nm, the average extinction cross section of HbMPs is derived. A numerical method is applied to determine the composition of the HbMPs based on their wavelength-dependent refractive index (RI), which is a superposition of the three different states of Hb. Thus, light-scattering properties, including extinction cross sections can be simulated for different compositions and sizes. By comparison to measured spectra, the relative concentrations of oxyHb, deoxyHb, metHb are accessible. For validation of the optically determined composition of the HbMPs, we used X-ray fluorescence spectrometry for the ratio of Fe(II) (oxyHb/deoxyHb) and Fe(III) (metHb). High accuracy density measurements served to access heme-free proteins, size was determined by dynamic light scattering and analytical centrifugation and the shape of the HbMPs was visualized by electron and atomic force microscopy.Canine distemper virus (CDV) is a highly lethal contagious viral pathogen mainly found in domestic and wild canids and mustelids. Although, in Italy, circulating strains of Europe 1, Europe wildlife and Arctic type are reported, data relating to Latium and Tuscany regions are limited. In view of this, through passive surveillance, we investigated the presence of CDV and which strains were circulating in these Regions. From March 2017 to October 2019, a group of 122 subjects were tested for CDV using a PCR protocol described in the literature, with 12 detected positive; analyses were carried out on a set of target samples (brain and lung, conjunctival, nasal and rectal swabs, urine or swab from bladder and intracardiac clot) that was defined for the detection of CDV in both live and dead animals. The rectal swab, easily collected also from live animals, represented the most suitable sample for CDV diagnosis, with 9 positive of the 11 (81.82%) tested. In addition, brain and lung of 15 subjects out of 181 susceptible animals collected between 2011 and 2018, during post mortem investigations in routine diagnostic activity, were CDV positive. Molecular analyses of all positive samples, using a 287 bp fragment located within the conserved N terminus of the morbillivirus nucleoprotein gene, detected the circulation of strain CDV599/2016 (KX545421.1) belonging to the "Europe wildlife" lineage, and of strain CDV12254/2015 (KX024709.1), belonging to the Arctic-lineage, thus confirming the co-circulation of the two lineages, as already noted in previous studies.Dysregulation of retinal function in the early stages of light-induced retinal degeneration involves pannexins and connexins. These two types of proteins may contribute to channels that release ATP, leading to activation of the inflammasome pathway, spread of inflammation and retinal dysfunction. However, the effect of pannexin channel block alone or block of both pannexin channels and connexin hemichannels in parallel on retinal activity in vivo is unknown. In this study, the pannexin channel blocker probenecid and the connexin hemichannel blocker tonabersat were used in the light-damaged rat retina. Retinal function was evaluated using electroretinography (ERG), retinal structure was analyzed using optical coherence tomography (OCT) imaging and the tissue response to light-induced injury was assessed immunohistochemically with antibodies against glial fibrillary acidic protein (GFAP), Ionized calcium binding adaptor molecule 1 (Iba-1) and Connexin43 (Cx43). Probenecid did not further enhance the therapeutic effect of connexin hemichannel block in this model, but on its own improved activity of certain inner retina neurons.